RobotKinematics（运动学）.ppt

X0 Y0 0 Y1 X1 0 y1 x1 a1 v v Figure 2.8: First Link - Translate X1,Y1 Axes along X0 X0 Y0 x0 y0 0 q1 Y1 X1 R 0 y1 x1 a1 v v Figure 2.9: First Link - Rotate X1,Y1 Axes about Z0 Two-Link, Planar Robot using the “right-to-left” interpretation as shown, we have Two-Link, Planar Robot completing the matrix algebra we have, X0 Y0 q1 v Y1 X1 R y1 x1 v v v Figure 2.10: First Link - Rotate X1,Y1 Axes about Z0 “Left-to-Right” Interpretation X2 Y2 x2 y2 0 q2 Y1 X1 R 0 y1 x1 a2 v v Figure 2.11: First Link - Translate X1,Y1 Axes along X1 Same Results! Figure 2.12: Second Link - Rotate and Translate X2